Pre- and Post-installation Disk Layout reference
================================================

.. _toplevel_bin:

The toplevel bin/ directory
---------------------------

This shouldn't contain very much... just "anointed" central binaries
used by the entire distribution.  Most programs (like ROS nodes) will
reside in each package's ``bin/`` directory.




Pre-installation
----------------

.. highlight:: catkin-sh

.. rubric:: Source directory

e.g. for project 'proj'::

  src/
    proj/
      CMakeLists.txt
      stack.xml  # explains interstack dependencies and debian-generating rules
      msg/
        ProjMsg.msg
      srv/
        ProjSrv.srv
      src/
        proj/
          __init__.py
          othercode.py
        libproj/
          CMakeLists.txt
          proj.cpp
      include/
        proj/
          proj.hpp
          otherheaders.hpp

.. rubric:: Build directory

::

  build/
    env.sh
    setup.sh
    setup.bash
    setup.zsh

    etc/
      catkin/
        profile.d/
          00.catkin.buildspace.sh   # env hooks.  this one is a placeholder added by catkin.
          10.ros.buildspace.sh      # e.g. the one from ROS

      packages.list           # mapping from pkg name to subdirectory of build/src dirs, see below

    gen/
      cpp/                    # All generated C++ headers go here.
        proj/
          ProjMsg.h
          ProjSrvRequest.h
          ProjSrvResponse.h
      py/                     # All generated python goes here.
        proj/
          __init__.py         # uses pkgutil to add src/proj/src/ to pythonpath
          msg/
            __init__.py       # generated code
            _ProjMsg.py
            _ProjSrvRequest.py
            _ProjSrvResponse.py
    lib/                      # all compiled libraries go here
      libproj.so
    proj/
      # the usual cmake-generated stuff.
      Makefile
      CMakeFiles/
      cmake_install.cmake



Post-installation
-----------------

::

  /opt/ros/fuerte/            # CMAKE_INSTALL_PREFIX

    bin/
      roscore                 # possibly some special anointed binaries
      rosbag@                 # symlink to share/rosbag/bin/rosbag
      setup.sh                # generated for this environment by catkin
      env.sh

    lib/
      libros.so               # shared libraries for all packages
      libcpp_common.so
      librostime.so
      libfoo.a                # also static libraries
      pythonX.Y/              # python from all packages
        rospy/
          __init__.py         # static code
          client.py
          core.py
          ...
        std_msgs/
          __init__.py         # generated code
      pkgconfig/              # pkgconfig files are autogenerated
        roscpp_serialization.pc
        nav_msgs.pc

    include/                  # all includes, together.
      std_msgs/
        Float64.h             # generated header
      ros/
        node_handle.h         # "static" hand-coded header
        time.h
        xmlrpc_manager.h

    etc/
      catkin/
        profile.d/
          00.catkin.sh
          10.ros.sh
      ros/
        rosinstall.conf       # used by rosinstall to set ROS_PACKAGE_PATH
        langs/                # to determine which code generators are available.
          roscpp              # contains "C++"
          rospy               # contains "Python"
        depends.yaml          # rosdep main database
        depends.d/
          00_something.yaml   # addons
          10_somethingelse.yaml

    share/                    # During transition, this is also ROS_PACKAGE_PATH
      roscpp_tutorials/       # one dir like this per package
        manifest.xml          # thunk to pkgconfig for transition;
                              # takes care of exporting to legacy rosmake.
        bin/
          talker              # possibly linked-to from CMAKE_PREFIX_PATH/bin
          listener
        cmake/                # cmake infrastructure, per-package
          roscpp_tutorials-config.cmake
          roscpp_tutorials-config-version.cmake
          messages.cmake
        msg/
          Foo.msg
          Bar.msg
        action/

        something.launch      # the rest is as the package installs it

     stacks/
       dry_stack1             # built/installed via rosmake
       dry_stack2             # built/installed via rosmake




Notes on individual files
-------------------------

.. index::
   double: packages.list; files in etc/

.. _etc/packages.list:

``etc/packages.list``
^^^^^^^^^^^^^^^^^^^^^

Contains a mapping of package name to
path-to-the-package-relative-to-\ ``CATKIN_(BUILD|SOURCE)_DIR``, e.g.::

     XmlRpc ros_comm/utilities/xmlrpcpp
     catkin catkin
     cpp_common roscpp_core/cpp_common
     gencpp gencpp
     genmsg genmsg
     genpy genpy
     genpybindings genpybindings
     geometry_msgs common_msgs/geometry_msgs
     nav_msgs common_msgs/nav_msgs
     nolangs nolangs
     rosconsole ros_comm/tools/rosconsole
     roscpp ros_comm/clients/cpp/roscpp
     roscpp_serialization roscpp_core/roscpp_serialization
     roscpp_traits roscpp_core/roscpp_traits
     rosgraph_msgs ros_comm/messages/rosgraph_msgs
     roslib ros/core/roslib
     rospy ros_comm/clients/rospy
     rostime roscpp_core/rostime
     sensor_msgs common_msgs/sensor_msgs
     std_msgs std_msgs